基于GPS和机器视觉的自主导航定位农机设备研究  

Research on the Autonomous Navigation and Positioning System Based on GPS and Machine Vision

作　　者：吴东明[1] 王丽娟[1] 

机构地区：[1]焦作师范高等专科学校计算机与信息工程学院,河南焦作454000

出　　处：《农机化研究》2018年第2期221-225,共5页Journal of Agricultural Mechanization Research

基　　金：江苏省农业科技自主创新项目(CX(16)60732)

摘　　要：准确、可靠的位置信息是进行农业机械自动导航的前提,为了提高农机自主定位导航的精度,提出了一种基于GPS和机器视觉联合导航的定位系统,并介绍了联合定位导航的方法,最后以实验得方式验证了导航的可行性。农机的GPS和机器视觉组合定位系统采用GPS部分对农机的绝对位置进行实时采集,并跟踪导航角和行驶速度,完成绝对定位;采用机器视觉部分图像处理的方式,获得导航基准线和作业目标信息,完成相对定位;采用光电对管实现了避障功能,并采用无线数据的收发,实现了农机的远程控制。对农机联合导航机制进行了实验验证,结果表明:最大误差不超过0.1m,精度较高,克服了单一定位方式的不足,提高了农机自主导航的定位效果。The accurate and reliable location information is a prerequisite for the automation of agricultural machinery. In order to improve the self positioning accuracy of navigation of agricultural machinery,it proposes a GPS positioning system and combined navigation based on machine vision,introduces a method of combined navigation,finally verifies the feasibility of the navigation way through the experiment. Agricultural GPS and machine vision positioning system uses GPS part of absolute position of agricultural real-time acquisition,tracking and navigation angle and speed,completes absolute positioning. By using machine vision image processing part,navigation datum line and operation target information,it completes the relative positioning,the photoelectric tube to achieve obstacle avoidance function by using the wireless data transceiver to achieve the remote control of agricultural machinery. At the end of the agricultural joint navigation mechanism is verified by experiments,which shows that the maximum error is less than 0. 1m,high precision,overcome the shortage of single positioning,improve the positioning effect of autonomous navigation of agricultural machinery.

关 键 词：农机设备 机器视觉 自主定位 GPS系统 定位精度 

分 类 号：S126[农业科学—农业基础科学] TP273[自动化与计算机技术—检测技术与自动化装置]